CN106546241A - The chemical plant personnel positioning navigation system calculated based on plant area's cartographic information and method - Google Patents

Abstract

The invention discloses a chemical plant personnel positioning and navigation system calculated based on plant area map information, which includes a plurality of terminals, a main control server and a display screen located in a main control room; the terminal includes a central processing module, a motion sensor module, a positioning module, Display module and communication module; central processor module, motion sensor module and positioning module are used to realize real-time positioning of personnel, and display module and communication module are used to realize data exchange and human-computer interaction; the main control server includes a chemical plant area map composition , the main control server is used to summarize, process and graphically display the data of each chemical plant personnel navigation terminal; after the positioning data of each terminal is uploaded to the main control server through the communication module, the location data of each staff member is matched with the map of the chemical plant area The composition is displayed on the display screen in the main control room in the form of a graphical interface. Provide technical and data support for the daily safety production of chemical plants and personnel rescue in case of accidents.

Description

Chemical plant personnel positioning and navigation system and method based on plant map information calculation

technical field

The invention relates to positioning and navigation, signal processing and Internet of Things technology, and in particular to a positioning and navigation system in a special area.

Background technique

Chemical products have quietly entered every aspect of our lives. However, chemical plants, which are used to produce chemical products, have become a site of frequent accidents, and when accidents occur, the casualties are often heavy. Chemical plants need to lay a large number of pipelines. Since the raw materials are mostly flammable, explosive, and corrosive dangerous goods, once an accident occurs, the personnel in the factory will be placed in an extremely dangerous situation. It is necessary to accurately locate the trapped personnel as soon as possible. Therefore, the real-time positioning of the staff in the chemical plant area has become one of the important guarantees to ensure production safety.

Outdoor positioning generally adopts GPS (Global Positioning System, global satellite positioning technology) technology, but currently the indoor positioning technology that can be applied to chemical plants mainly consists of the following types:

For example, one is the method of using the signal strength of wireless local area network ^[1] . The strongest base station method (approximation method), propagation model method (triangulation method) and location fingerprinting method (scene analysis method) are three basic location-aware techniques. At present, there are many studies on location fingerprinting, and its principle is divided into two stages: offline survey and online positioning. Offline survey is to determine a number of sampling points at a certain interval in the undetermined area to form a network of sampling points, and save the signal strength measured at each point together with its location information into the database. This information is called location fingerprint ( Location Fingerprints) or Radio Map (RadioMap). During online positioning, the real-time measured signal strength information is compared with the information in the database, and the position of the point with the closest signal strength is taken as the estimated position. Compared with the positioning and navigation method of the present invention, this method has complex preparation work and is very easily affected by environmental changes, and has great uncertainty, while the present invention uses building structure diagram information, which is relatively stable.

Another example is indoor GPS (Indoor Global Positioning System) ^[2] . Indoor GPS calculates the horizontal angle and vertical angle information of the measured point relative to the transmitting point through the infrared light emitted and received, and then converts it into coordinates relative to the transmitting point. This type of method requires additional installation of an infrared light emitting and receiving system, and its measurement capability and accuracy are affected by temperature, vibration, and the process and mechanical properties of the emitting head and receiving sensor, and are prone to occur when the object to be measured is close to the reflector. The pulse is bent, resulting in a dead zone in the measurement. In addition, although this method is a calculation-based positioning system like the present invention, the positioning reference is an infrared light emitter, while the present invention uses an autonomous calculation based on a building structure diagram.

[references]

[1] Zhang Minghua, Zhang Shensheng, Cao Jian. Indoor Positioning Based on Signal Strength in Wireless LAN [J]. Computer Science, 2007,34(6):68-71.

[2] Wang Wei, Li Xiwen, Liu Jishuang. Principles and Applications of Indoor GPS [J]. Surveying and Mapping and Spatial Geographic Information, 2010, No. 3: 116-119.

Contents of the invention

The invention aims at realizing the real-time positioning and navigation of the staff in the chemical plant. Since chemical plants usually occupy a large area and consist of multiple buildings, personnel may need to move between different buildings, so the present invention adopts different positioning methods for outdoor and indoor positioning. The satellite positioning method is used outdoors, and the positioning method calculated based on building structure diagram information (including pipeline maps, etc.) is used indoors, and the seamless connection between indoor and outdoor positioning is realized. At the same time, it realizes the navigation function based on the building structure diagram and the electronic map of the factory area, and uploads the positioning data and personnel information to the main control server, providing technical and data support for the daily safety production of chemical plants and personnel rescue in case of accidents.

In order to solve the above-mentioned technical problems, the present invention proposes a chemical plant personnel positioning and navigation system based on plant map information calculation, which includes a plurality of terminals, a main control server and a display screen located in the main control room; the terminal at least includes a central processing module, a motion sensor module, a positioning module, a display module and a communication module; wherein, the central processing unit module, the motion sensor module and the positioning module are used to realize real-time positioning of personnel, and the display module and the communication module are used to realize data exchange and human-computer interaction; the main control server includes a chemical plant area map composition, and the main control server is used to summarize, process and graphically display the data of each chemical plant personnel navigation terminal; the positioning data of each terminal is passed through the After the communication module is uploaded to the main control server, the location data of each worker is displayed on the display screen of the main control room in a graphical interface in accordance with the composition of the map of the chemical plant area.

Wherein, the motion sensor module includes at least one or more of accelerometer, speedometer and gyroscope, and the positioning module includes at least one or both of satellite positioning and RFID.

The method for realizing navigation by using the above-mentioned chemical plant personnel positioning and navigation system calculated based on the plant area map information includes the following aspects:

1. Obtain map information of the factory area, wherein the map information of the factory area includes indoor map information, outdoor map information and obstacles, markers, movement restrictions, road conditions, and calibration point information, and the indoor map information is a digital map based on building structure drawings Information, the outdoor map information is electronic map information; before the navigation system starts to work, import the above-mentioned plant area map information into the storage medium of each terminal, and establish a corresponding coordinate system;

2. Obtain the current position coordinates and target coordinates of the personnel:

2-1) Acquisition of the current position coordinates of personnel includes alternate indoor and outdoor positioning, wherein:

Outdoor positioning adopts the combination of satellite positioning and pipeline distribution map calculation;

The indoor positioning includes rough positioning and precise positioning. The rough positioning is based on RFID dynamic calibration to determine the area where the personnel are located. The rough positioning information is used for the main control server to display the distribution information of the staff in different work areas, and to monitor the staff. An alarm is issued for abnormally entering a dangerous area; the precise positioning is based on map information to determine the precise position of the person in the area determined by the indoor rough positioning;

Indoor and outdoor positioning switching: When the system detects that the current position of the person is near the entrance and exit of the building, the indoor positioning and outdoor positioning are turned on at the same time. At this time, the system receives at least one positioning signal at any time to ensure the continuity of the positioning process; When the location is far away from the building entrance and exit area or one of the positioning signals disappears, the indoor positioning or outdoor positioning is kept on according to the current position of the person;

2-2) The target coordinates are given by the end user;

3. Path planning: firstly, when storing the map information of the factory area to the main control server, at the same time store the information of the dangerous areas that are prohibited from entering or the areas that can be entered according to the identity of the personnel. At the same time, download and update emergency information in the factory area in real time; for the path planning of indoor and outdoor positioning switching, adopt the method of planning separately for indoor positioning and outdoor positioning;

4. Navigation design: After the path is determined through path planning, the navigation starts under the condition of real-time calculation of the current position of the personnel, and a prompt is given before reaching the key position. The prompt method includes one or both of voice prompts and screen display combination of

5. Data upload and processing: After obtaining the personnel positioning data returned by each terminal, the main control server displays the positions of all personnel in the work area on the screen in the control room, and issues instructions to the staff through the communication module as needed , to realize real-time monitoring of staff location distribution and work conditions.

Compared with prior art, the beneficial effect of the present invention is:

First, the present invention can be adapted to both indoor and outdoor positioning and navigation applications. The invention seamlessly combines outdoor satellite positioning technology with indoor dynamic calibration and positioning technology calculated based on building structure information, and can complete complete navigation in the chemical plant area without switching systems.

Second, the positioning accuracy of the present invention is controllable, and a method combining rough positioning and precise positioning is adopted. The present invention can not only control the positioning accuracy in various ways, but also adopt a method of combining rough positioning and precise positioning according to different needs. In the indoor positioning method of the present invention, the interval between the calibration points of the RFID tag and the interval between the indoor reference objects all determine the accuracy of the positioning, and the calculation rate of the processor, the accuracy of the sensor, etc. can also affect the accuracy.

Description of drawings

Figure 1. The chemical plant personnel positioning and navigation system based on the calculation of the building structure diagram.

detailed description

The technical solution of the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments, and the described specific embodiments are only for explaining the present invention, and are not intended to limit the present invention.

The working block diagram of the system of the present invention is shown in Figure 1. The design idea of the present invention is: the main body of the chemical plant personnel calculated based on the map information of the plant area is the navigation terminal of the chemical plant staff. Before the system works, the map of the area of the chemical plant needs to be The information is imported into the positioning system for subsequent operations such as positioning, navigation and display. After the system is started, satellite positioning and RFID (Radio Frequency Identification, radio frequency identification) rough positioning can be started at the same time to determine the initial position as soon as possible. Then the location can be determined by combining satellite positioning (outdoor), RFID dynamic calibration and calculation based on map information. Then, the route can be planned according to the destination, the navigation can be completed, and information can be exchanged with the main control server in due course. On the basis of positioning, complete fast and safe path planning and navigation according to the actual situation of the factory area, and output the navigation prompt information to the user through the interactive module. At the same time, after obtaining the positioning data sent back by each terminal, the main control server displays the positions of all personnel in the work area on the screen in the control room, and issues instructions to the staff through the communication system as needed to realize the location of the staff. Real-time monitoring of distribution and working conditions.

As shown in Fig. 1, a chemical plant personnel positioning and navigation system based on plant map information calculation proposed by the present invention includes multiple terminals, a main control server and a display screen located in the main control room.

The terminal at least includes a central processing module, a motion sensor module, a positioning module, a display module and a communication module; wherein, the central processing module, the motion sensor module and the positioning module are used to realize real-time positioning of personnel, and the display module and the communication module are used to realize data exchange and human-computer interaction; the motion sensor module includes at least one or more of accelerometer, speedometer and gyroscope, and the positioning module includes at least one or more of satellite positioning and RFID Two types; the main control server includes a map composition of the chemical plant area, and the main control server is a system for summarizing, processing and graphically displaying the data of each chemical plant personnel navigation terminal; the positioning data of each terminal is passed through the After the above communication module is uploaded to the main control server, the position data of each staff member is displayed on the screen of the main control room in a graphical interface with the composition of the map of the chemical plant area, so that the staff in the main control room can conveniently Monitor the number and specific location of staff in each work area to facilitate their deployment and command. At the same time, the main control server, as the data server of each terminal, dynamically updates the latest information in the factory area (including work notices, emergencies, etc.) to each terminal to realize digital and intelligent management.

The method for realizing navigation by using the above-mentioned chemical plant personnel positioning and navigation system calculated based on the plant area map information includes the following aspects:

1. Obtain the map information of the plant area. The map information of the chemical plant area has the characteristics of a large range and a combination of indoor and outdoor. Therefore the plant area map information of the present invention is also divided into two parts of indoor map information and outdoor map information. The indoor map information is the digital map information based on the building structure diagram, and the outdoor map information can refer to the electronic map information. In addition, information such as obstacles, markers, movement restrictions, road conditions, calibration points, etc. can be added to the map as needed. Before the navigation system starts working, the factory area map information should be imported into the storage medium of the smart terminal and the corresponding coordinate system should be established for reading and utilization during operation.

2. The current position coordinates and target coordinates of personnel are necessary information for path planning and navigation. Therefore, it is necessary to obtain the current position coordinates and target coordinates of the person. Among them, the target coordinates are given by the end user according to the actual needs; the current position coordinates of the personnel are obtained as follows:

According to the characteristics of the chemical factory area, there is a need for indoor and outdoor alternate positioning and navigation, so the present invention adopts different methods for indoor positioning and outdoor positioning to improve pertinence and positioning accuracy. Moreover, the switching between indoor and outdoor positioning has been designed.

Outdoor positioning adopts the combination of satellite positioning and pipeline distribution map calculation. Currently, the most widely used positioning systems are the Global Positioning System (GPS) of the United States and the latest generation of satellite positioning system "Beidou-2" independently developed by my country. These satellite positioning systems can all be used for the outdoor positioning part of the present invention. At present, the positioning accuracy of civilian GPS and "Beidou-2" can reach 10 meters, and its accuracy can meet the requirements of navigation. In addition, there are usually a large number of fixed-position pipelines distributed along the roadside of the chemical plant area. Combining with the pipeline distribution map, identifying which (several) pipelines the workers walk along can improve the accuracy and pertinence of positioning and prevent the occurrence of positioning. Deviated situation.

For indoor positioning, the present invention adopts a combination of "coarse positioning" and "precise positioning". The specific method is as follows:

The rough positioning is based on RFID dynamic calibration to determine the area where the person is located. The rough positioning in the invention refers to the determination of the area where the staff is located. In a chemical plant, it can be divided into several areas according to the need for positioning accuracy and functional division, such as passages, rooms, warehouses, etc. The implementation of coarse positioning can apply RFID technology. Install fixed RFID transmitting and reading devices at the entrances and exits of each area, corresponding to their position coordinates on the building structure map, and exchange information with the RFID transmitting and reading devices on the staff terminals. The fixed RFID device sends location coordinate information, and the staff terminal transmits terminal ID information. In this way, the coordinates of the current location will be obtained on the terminal of the staff, so as to determine the area that the staff is about to enter or leave. The fixed RFID device will obtain the identity information of the workers who are about to enter or leave, and transmit it back to the main control server through the communication network. Coarse positioning information can be used by the main control server to display the distribution information of workers in different work areas, and to give an alarm to workers who enter dangerous areas abnormally.

The precise positioning is based on map information to determine the precise location of personnel in the area determined by indoor rough positioning; the map information here includes building structure information (such as doors, windows, aisles, walls, etc.) and pipeline distribution in chemical plants Information, which has a relatively fixed geographic location and limits the location and direction of action of personnel. After rough indoor positioning, the range of the person can be determined from the RFID signal range. Within this range, the precise location of the person can be judged comprehensively by combining map information, previous location of the person, motion sensor and other data. For example, one implementation is that when a worker enters the range of RFID tag B to the right from the area of RFID tag A in an aisle, his position should be the leftmost end of the range of tag B and the worker is still in the aisle, while It is impossible to calculate the coordinates of this point from the building structure diagram in the adjacent room, in the hallway, or at the far right end of label B. In this way, the accuracy is sufficient for the positioning and navigation system in the chemical plant area.

Indoor and outdoor positioning switching: When workers move in the factory area, they will inevitably go from indoor to outdoor or from outdoor to indoor, which requires seamless switching between indoor and outdoor positioning systems. In this regard, the present invention adopts the following method to realize the continuity of the positioning work in the case of indoor and outdoor switching. Since the map information of the factory area has been pre-stored in the terminal device and the current location of the worker is known, when the system detects that the current location of the person is near the entrance and exit of the building, two positioning methods (indoor positioning and outdoor positioning) are simultaneously activated (that is, to ensure that the original The enabled positioning method continues to work, and at the same time another set of positioning methods is activated), so that the system can receive at least one positioning signal at all times, thereby ensuring the continuity of the positioning process. When the system detects that the location is far away from the building entrance and exit area or one of the positioning signals disappears, it stops the state that the two positioning methods are activated at the same time, and keeps one positioning method open according to the current position.

3. Path planning: The path planning algorithm adopts the algorithm optimized by the characteristics of the chemical plant area. The route planning requirements of the navigation in the chemical plant area are different from those of the current general car navigation devices. There are many dangerous areas in the chemical plant, and the distribution of facilities is relatively complicated, and often involves switching from indoor to outdoor. Therefore, special planning for the route planning of the chemical plant is required Optimized design to meet the requirements of safety and efficiency.

First of all, when storing the map information of the factory area into the system, it is also necessary to store the information of the dangerous areas that are prohibited from entering or the areas that can be entered according to the identity of the personnel. At the same time, data exchange is maintained between the communication system and the main control server, and information such as emergencies in the factory area is downloaded and updated in real time.

For the path planning of indoor and outdoor positioning switching, the indoor positioning and outdoor positioning are planned separately; that is, if the current location of the person and the target location are not in the same building, the path planning is: from the current location of the person to the exit of the building, to From the entrance of the target building to the target location, the path planning methods of indoor positioning, outdoor positioning and indoor positioning are adopted in sequence. For path planning between different floors, this method can also be analogized.

4. Navigation design: After the path is determined through path planning, the navigation can be started under the condition of real-time calculation of the current position. Since the map information of the factory area has been pre-stored in the system, the system can be in advance at key positions (such as turning, up and down) Stairs, etc.) for prompts, voice prompts and screen display can be combined to guide personnel to complete tasks

5. Data upload and processing: After obtaining the personnel positioning data returned by each terminal, the main control server displays the positions of all personnel in the work area on the screen in the control room, and issues instructions to the staff through the communication module as needed , to realize real-time monitoring of staff location distribution and work conditions.

Although the present invention has been described above in conjunction with the accompanying drawings, the present invention is not limited to the above-mentioned specific embodiments, and the above-mentioned specific embodiments are only illustrative, rather than restrictive. Under the enlightenment of the present invention, many modifications can be made without departing from the gist of the present invention, and these all belong to the protection of the present invention.

Claims (3)

1. A chemical plant personnel positioning and navigation system calculated based on plant area map information, is characterized in that it includes a plurality of terminals and a master control server and a display screen located in the master control room; the terminal at least includes a central processing module, a motion sensor module, a positioning module, a display module and a communication module; wherein, the central processing unit module, the motion sensor module and the positioning module are used to realize the real-time positioning of personnel, and the display module and the communication module are used to realize data exchange and human-computer interaction ; The main control server includes a chemical plant area map composition, and the main control server is used to summarize, process and graphically display the data of each chemical plant personnel navigation terminal; After the positioning data of each terminal is uploaded to the main control server through the communication module, the position data of each worker is displayed on the display screen of the main control room in the form of a graphical interface in conjunction with the composition of the chemical plant area map. 2. according to claim 1, a kind of chemical plant personnel positioning and navigation system based on plant area map information calculation is characterized in that, the motion sensor module includes at least one of accelerometer, speedometer and gyroscope, so The positioning module includes at least one or two of satellite positioning and RFID. 3. A chemical plant personnel positioning and navigation method based on plant area map information calculation, characterized in that: comprising the following aspects: 1. Obtain map information of the factory area, wherein the map information of the factory area includes indoor map information, outdoor map information and obstacles, markers, movement restrictions, road conditions, and calibration point information, and the indoor map information is a digital map based on building structure drawings Information, the outdoor map information is electronic map information; before the navigation system starts to work, import the above-mentioned plant area map information into the storage medium of each terminal, and establish a corresponding coordinate system; 2. Obtain the current position coordinates and target coordinates of the personnel: 2-1) Acquisition of the current position coordinates of personnel includes alternate indoor and outdoor positioning, wherein: Outdoor positioning adopts the combination of satellite positioning and pipeline distribution map calculation; The indoor positioning includes rough positioning and precise positioning. The rough positioning is based on RFID dynamic calibration to determine the area where the personnel are located. The rough positioning information is used for the main control server to display the distribution information of the staff in different work areas, and to monitor the staff. An alarm is issued for abnormally entering a dangerous area; the precise positioning is based on map information to determine the precise position of the person in the area determined by the indoor rough positioning; Indoor and outdoor positioning switching: When the system detects that the current position of the person is near the entrance and exit of the building, the indoor positioning and outdoor positioning are turned on at the same time. At this time, the system receives at least one positioning signal at any time to ensure the continuity of the positioning process; When the location is far away from the building entrance and exit area or one of the positioning signals disappears, the indoor positioning or outdoor positioning is kept on according to the current position of the person; 2-2) The target coordinates are given by the end user; 3. Route planning: first, when storing the map information of the factory area to the main control server, simultaneously store the information of dangerous areas that are prohibited from entering or the areas that can be entered according to the identity of the personnel; at the same time, download and update the emergency information in the factory area in real time; For the path planning of indoor and outdoor positioning switching, adopt the method of planning separately for indoor positioning and outdoor positioning; 4. Navigation design: After the path is determined through path planning, the navigation starts under the condition of real-time calculation of the current position of the personnel, and a prompt is given before reaching the key position. The prompt method includes one or both of voice prompts and screen display combination of 5. Data upload and processing: After obtaining the personnel positioning data returned by each terminal, the main control server displays the positions of all personnel in the work area on the screen in the control room, and issues instructions to the staff through the communication module as needed , to realize real-time monitoring of staff location distribution and work conditions.